CN103669362A - Real-time monitoring and positioning system and method for concrete spreading machine - Google Patents
Real-time monitoring and positioning system and method for concrete spreading machine Download PDFInfo
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- CN103669362A CN103669362A CN201310738113.7A CN201310738113A CN103669362A CN 103669362 A CN103669362 A CN 103669362A CN 201310738113 A CN201310738113 A CN 201310738113A CN 103669362 A CN103669362 A CN 103669362A
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Abstract
The invention relates to a real-time monitoring and positioning system and method for a concrete spreading machine. The real-time monitoring and positioning system comprises the concrete spreading machine provided with caterpillar bands and a push shovel. A directional antenna and a positioning antenna are arranged on the outer surface of the concrete spreading machine at intervals. A hydraulic rod, connected with the machine body, of the push shovel of the concrete spreading machine is provided with an angular transducer, and the directional antenna, the positioning antenna and the angular transducer are all connected with a host arranged on the concrete spreading machine. The host is in wireless connection with a remote server and a positioning base station. The directional antenna and the positioning antenna can be fixedly installed on the concrete spreading machine through a support. The real-time monitoring and positioning system can obtain accurate three-dimensional coordinates and the concrete spreading working scope of the concrete spreading machine and the thickness of concrete after spreading in real time, and carry out real-time monitoring and positioning on the concrete spreading machine. Meanwhile, detected data can be used as the foundation of a concrete spreading machine construction behavior monitoring solution scheme to assist construction management personnel in controlling concrete spreading construction quality, and nonstandard construction behaviors like 'spreading is replaced by vibrating' are avoided.
Description
Technical field
The present invention relates to the system for the quality control of hydraulic engineering concrete work pouring construction, is close a position machine Real-Time Monitoring navigation system and method concretely.
Background technology
The machine of closing a position is that in concrete pouring construction process, in order to control, concrete speading is even, base layer thickness is up to standard, a kind of construction machinery that the coagulation mound by being discharged in the face of storehouse of employing is bulldozed.It is the critical process of concreting that concrete spreading paves, and is the important factor in order of the follow-up operation implementation result that vibrates.In construction, adopt the machine of the closing a position construction that paves of closing a position, the work progress of the machine of closing a position is directly connected to the quality of closing a position and paving, and concrete pouring construction quality is had to material impact, explicitly calls for after must closing a position and vibrate in job specfication.
The at present job site machine execution control of closing a position is extensive, and nonstandard construction often brings stockpile top vibrate insertion depth not and can not well overlap and occur that local cold seam, most of concrete are crossed and shake and bring Segregation etc. to have a strong impact on the problem of concrete pouring construction quality with lower one deck.Meanwhile, the machine operation personnel level of closing a position is very different, is difficult to guarantee to close a position effect, and concrete thickness is uneven, brings hidden danger to concrete pouring construction quality.This has become the common fault of concrete pouring construction quality control, need to adopt become more meticulous, the effectively monitoring and control the construction behavior of the machine of closing a position of intelligentized technological means and equipment, with auxiliary construction administrative staff, effectively control the construction technology quality of closing a position.
At the machine of closing a position, closing a position and pave in quality control on construction, is close a position basis and the prerequisite of spreading quality monitoring solution by the machine of closing a position being carried out to accurate location.In the process machine of closing a position being positioned in reality, need to consider location technology scheme, orientation sensing equipment installation, the elements of a fix the implementation detail such as resolve, guarantee that positioning result is accurately reliable.
Mainly in prior art rely on other station management by the stand process of observe and decide concrete spreading of side, the location determination of the machine of closing a position is adopted to the mode with reference to relative fixed object judge distance in the face of storehouse, positioning precision is low, and be difficult to whole process, the continuous monitoring process of closing a position, the phenomenon that inequality, paving thickness exceed standard that paves that easily occurring closes a position; And the machine position fixing process of closing a position be take qualitative as main, affected obviously by factor and individual subjective factor, lack data supporting accurately.The inequality, paving thickness of paving if close a position in work progress exceeds standard, and is difficult to identify accurately and correction of deviation in real time, and follow-up Vibration Technology is impacted, cause occurring shaking the leakage phenomenon such as shake.The management of this construction quality that is unfavorable for closing a position, is difficult to effectively guarantee concrete pouring construction quality.
Summary of the invention
The invention provides a kind of machine Real-Time Monitoring navigation system and method for closing a position, obtain in real time the machine of closing a position accurate three-dimensional coordinate, close a position pave working range and pave after concrete thickness, the machine of closing a position is carried out to Real-Time Monitoring location.
The present invention's machine Real-Time Monitoring navigation system of closing a position, comprise the machine of closing a position, the facility of closing a position have crawler belt and shoveling, on the external surface of the machine of closing a position, be interval with directional aerial and positioning antenna, on the hydraulic stem being connected with car body in the shoveling of the machine of closing a position, be provided with angular transducer, described directional aerial, positioning antenna and angular transducer are all connected with the main frame of being located on the machine of closing a position, and described main frame is connected with locating base station with remote server by wireless mode.Directional aerial and positioning antenna can be fixedly mounted on the machine of closing a position by support.
Preferably, the driver's cabin end face of the machine of closing a position is located at described directional aerial and positioning antenna interval, and to guarantee accurate positioning, the position of two antennas should be the reception that is conducive to satellite-signal, avoid signal to disturb.
Preferably, at least 1 meter of the spacing of directional aerial and positioning antenna, to reduce the interference between signal.
Concrete, directional aerial, positioning antenna and angular transducer are all connected with main frame by cable, by wired mode, connect, and are conducive to guarantee the stability of signal transmission.
The present invention also provides a kind of machine of closing a position Real-Time Monitoring localization method for said system, comprising:
A. by being located at angular transducer on the hydraulic stem that shoveling is connected with car body, obtain the angle of shoveling connecting fluid depression bar and horizontal direction;
B. according to satellite positioning signal, obtain the real-time three-dimensional coordinate at positioning antenna place, by calculating location-directional aerial line and direct north horizontal sextant angle and the movement velocity of the machine of closing a position;
C. by angle, location-directional aerial line and the direct north horizontal sextant angle of described real-time three-dimensional coordinate, shoveling connecting fluid depression bar and horizontal direction, and the horizontal range of positioning antenna to the vertical distance of shoveling bottom, directional aerial to shoveling bottom, positioning antenna are to the vertical distance of crawler belt bottom and the length of shoveling connecting fluid depression bar, calculate the three-dimensional coordinate position at place, axis, shoveling bottom and the Bottom Altitude of crawler belt;
D. according to the three-dimensional coordinate position at place, axis, described shoveling bottom and the Bottom Altitude of crawler belt, obtain in real time scope and the elevation of the plane that shoveling worked, then the altitude data after vibrating in conjunction with front one deck calculates the paving thickness of closing a position.
Further, in step b, if the machine of the closing a position movement velocity≤0.1km/h obtaining is judged to be the machine uncovered position of the closing a position construction that paves.
Concrete, in steps d, when the machine of closing a position paves when construction closing a position, described shoveling bottom axis place's depth axle value of three-dimensional coordinate and the Bottom Altitude of the described crawler belt little value conduct machine of closing a position after relatively of the getting elevation that paves, and by the plane coordinates at place, axis, shoveling bottom, the three-dimensional body data of pave elevation and shoveling, scope and the elevation of the plane that the shoveling described in obtaining has in real time been worked.
The present invention close a position machine Real-Time Monitoring navigation system and method, can obtain in real time the machine of closing a position accurate three-dimensional coordinate, close a position pave working range and pave after concrete thickness, and the machine of closing a position is carried out to Real-Time Monitoring location.The data that simultaneously detect can also be as the basis of the machine construction behavior monitoring solution of closing a position, and auxiliary construction administrative staff control the concrete spreading construction quality that paves, and avoid occurring the generation of construction behaviors lack of standardization such as " with the Dai Ping that shakes ".
Below in conjunction with the specific embodiment of embodiment, foregoing of the present invention is described in further detail again.But this should be interpreted as to the scope of the above-mentioned theme of the present invention only limits to following embodiment.Without departing from the idea case in the present invention described above, various replacements or the change according to ordinary skill knowledge and customary means, made, all should comprise within the scope of the invention.
Accompanying drawing explanation
Fig. 1 is the close a position schematic diagram of machine Real-Time Monitoring navigation system of the present invention.
The specific embodiment
The machine Real-Time Monitoring navigation system of closing a position of the present invention as shown in Figure 1, comprise the machine of closing a position, the facility of closing a position have crawler belt 7 and shoveling 8, at the driver's cabin end face of the machine of closing a position, are interval with directional aerial 3 and positioning antenna 4, and at least 1 meter of the spacing of directional aerial 3 and positioning antenna 4.On the hydraulic stem being connected with car body in the shoveling 8 of the machine of closing a position, be provided with angular transducer 1, described directional aerial 3, positioning antenna 4 and angular transducer 1 are all connected with the main frame 2 of being located on the machine of closing a position by cable.Described main frame 2 is connected with locating base station 5 with remote server 6 by wireless mode.
When the machine of closing a position is detected in real time, first by being located at angular transducer 1 on the hydraulic stem that shoveling 8 is connected with car body, obtain the angle α of shoveling 8 connecting fluid depression bars and horizontal direction, shoveling 8 is set level, shoveling 8 connecting fluid depression bars and horizontal direction angle α are zero;
By locating base station 5, adopt the real-time three-dimensional coordinate P (x, y, z) at GPS or Big Dipper differential position acquisition positioning antenna 4 places, by calculating location-directional aerial line and direct north horizontal sextant angle β and the movement velocity v of the machine of closing a position;
x1＝x＋(b－d＋d×cosα)×sinβ
y1＝y＋(b－d＋d×cosα)×cosβ
z1＝z－a＋d×sinα
z2＝z－c
When the movement velocity v≤0.1km/h of the machine of closing a position, be judged to be the machine uncovered position of the closing a position construction that paves.
When the machine of closing a position paves when construction closing a position, described shoveling 8 axis, bottom place's depth axle z1 values of three-dimensional coordinate and the Bottom Altitude z2 of the described crawler belt 7 little value conduct machine of closing a position after relatively of the getting elevation that paves, and by the plane coordinates at shoveling 8 places, axis, bottom, the three-dimensional body data of pave elevation and shoveling 8, scope and the elevation of the plane that the shoveling 8 described in obtaining has in real time been worked, then the altitude data after vibrating in conjunction with front one deck calculates the paving thickness of closing a position.
Claims (7)
1. the machine Real-Time Monitoring navigation system of closing a position, comprise the machine of closing a position, the facility of closing a position have crawler belt (7) and shoveling (8), it is characterized by: on the external surface of the machine of closing a position, be interval with directional aerial (3) and positioning antenna (4), on the hydraulic stem being connected with car body in the shoveling (8) of the machine of closing a position, be provided with angular transducer (1), described directional aerial (3), positioning antenna (4) and angular transducer (1) are all connected with the main frame (2) of being located on the machine of closing a position, and described main frame (2) is connected with locating base station (5) with remote server (6) by wireless mode.
2. the machine Real-Time Monitoring navigation system of closing a position as claimed in claim 1, is characterized by: the driver's cabin end face of the machine of closing a position is located at described directional aerial (3) and positioning antenna (4) interval.
3. the machine Real-Time Monitoring navigation system of closing a position as claimed in claim 1, is characterized by: at least 1 meter of the spacing of directional aerial (3) and positioning antenna (4).
4. the machine of the closing a position Real-Time Monitoring navigation system as described in one of claims 1 to 3, is characterized by: directional aerial (3), positioning antenna (4) and angular transducer (1) are all connected with main frame (2) by cable.
5. for the machine of the closing a position Real-Time Monitoring localization method of system described in claim 1, its feature comprises:
A. by being located at angular transducer (1) on the hydraulic stem that shoveling (8) is connected with car body, obtain the angle of shoveling (8) connecting fluid depression bar and horizontal direction;
B. according to satellite positioning signal, obtain the real-time three-dimensional coordinate that positioning antenna (4) is located, by calculating location-directional aerial line and direct north horizontal sextant angle and the movement velocity of the machine of closing a position;
C. by angle, location-directional aerial line and the direct north horizontal sextant angle of described real-time three-dimensional coordinate, shoveling (8) connecting fluid depression bar and horizontal direction, and the horizontal range of positioning antenna (4) to the vertical distance of shoveling (8) bottom, directional aerial (3) to shoveling (8) bottom, positioning antenna (4) are to the vertical distance of crawler belt (7) bottom and the length of shoveling (8) connecting fluid depression bar, calculate the three-dimensional coordinate position at place, axis, shoveling (8) bottom and the Bottom Altitude of crawler belt (7);
D. according to the three-dimensional coordinate position at place, axis, described shoveling (8) bottom and the Bottom Altitude of crawler belt (7), scope and the elevation of the plane that acquisition shoveling (8) has been worked in real time, then the altitude data after vibrating in conjunction with front one deck calculates the paving thickness of closing a position.
6. method as claimed in claim 5, is characterized by: in step b, if the machine of the closing a position movement velocity≤0.1km/h obtaining is judged to be the machine uncovered position of the closing a position construction that paves.
7. the method as described in claim 5 or 6, it is characterized by: in steps d, when the machine of closing a position paves when construction closing a position, axis, described shoveling (8) bottom place's depth axle value of three-dimensional coordinate and the Bottom Altitude of described crawler belt (7) the little value conduct machine of closing a position after relatively of the getting elevation that paves, and by the plane coordinates at place, axis, shoveling (8) bottom, the three-dimensional body data of pave elevation and shoveling (8), scope and the elevation of the plane that the shoveling (8) described in obtaining has in real time been worked.
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| CN201310738113.7A CN103669362B (en) | 2013-12-27 | 2013-12-27 | To close a position machine Real-Time Monitoring navigation system and method |
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| CN201310738113.7A CN103669362B (en) | 2013-12-27 | 2013-12-27 | To close a position machine Real-Time Monitoring navigation system and method |
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| CN103669362B CN103669362B (en) | 2016-01-27 |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104634224A (en) * | 2014-12-22 | 2015-05-20 | 天津大学 | Highway pavement paving thickness plug-in automatic measuring device |
| CN104950791A (en) * | 2015-06-29 | 2015-09-30 | 中国电建集团成都勘测设计研究院有限公司 | Concrete spreading quality control method |
| CN109132611A (en) * | 2018-09-06 | 2019-01-04 | 沈阳智通粮仓机械科技有限责任公司 | A kind of silo is closed a position machine with intelligent charge formula |
| CN111636406A (en) * | 2020-05-28 | 2020-09-08 | 湖南致同工程科技有限公司 | Intelligent monitoring system for dynamic compaction machine |
| CN113741462A (en) * | 2021-09-06 | 2021-12-03 | 吉林大学 | Unmanned control self-adaptive walking system and method for large intelligent electric shovel |
| CN114985086A (en) * | 2022-06-23 | 2022-09-02 | 徐州工程学院 | Novel crawler-type removes multi-functional supplementary in broken station device |
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| CN109132611B (en) * | 2018-09-06 | 2024-02-06 | 沈阳智通粮仓机械科技有限责任公司 | Intelligent charging type leveling machine for granary |
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| CN111636406B (en) * | 2020-05-28 | 2022-03-18 | 湖南致同工程科技有限公司 | Intelligent monitoring system for dynamic compaction machine |
| CN113741462A (en) * | 2021-09-06 | 2021-12-03 | 吉林大学 | Unmanned control self-adaptive walking system and method for large intelligent electric shovel |
| CN114985086A (en) * | 2022-06-23 | 2022-09-02 | 徐州工程学院 | Novel crawler-type removes multi-functional supplementary in broken station device |
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